Volume 32 Issue 14 - Publication Date: December 2013

Robust loop closing over time for pose graph SLAM

Yasir Latif, César Cadena and José Neira

The International Journal of Robotics Research 2013 32: 1611–1626

Downloadable Files

Depicts an example run of the RRR algorithm for Bicocca25b dataset. The dataset is collected indoors and provides laser-odometry using scan-matching and loop closures from a bag-of-words place recognition algorithm (6.58 mb)

Demonstrates an example of decision reversal for incremental RRR in a multisession scenario. The experiment comprises 5 runs in an indoor environment (9.95 mb)